How to launch sitl gazebo with different ROS_DOMAIN_ID set?


I am trying to run px4_sitl_rtps gazebo with ROS2 foxy on Ubuntu 20.04.

In ROS2, network can be separated by setting different number to ROS_DOMAIN_ID for bash environment.
Default ROS_DOMAIN_ID is 0.

When I set export ROS_DOMAIN_ID=2
“make px4_sitl_rtps gazebo” opens gazebo but the micrortps_agent cannot send or receive
topics to the target.

How can I run px4 sitl with different ROS_DOMAIN_ID?